<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.9.1"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Doxygen: sample_consensus/include/pcl/sample_consensus/mlesac.h 源文件</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Doxygen
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- 制作者 Doxygen 1.9.1 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
var searchBox = new SearchBox("searchBox", "search",false,'搜索','.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(function() {
  initMenu('',true,false,'search.php','搜索');
  $(document).ready(function() { init_search(); });
});
/* @license-end */</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
$(document).ready(function(){initNavTree('mlesac_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div class="header">
  <div class="headertitle">
<div class="title">mlesac.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_SAMPLE_CONSENSUS_MLESAC_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html">   57</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html">MaximumLikelihoodSampleConsensus</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::Ptr SampleConsensusModelPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;MaximumLikelihoodSampleConsensus&gt; Ptr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const MaximumLikelihoodSampleConsensus&gt; ConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::max_iterations_</a>;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::threshold_</a>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::iterations_</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::sac_model_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::model_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::model_coefficients_</a>;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::inliers_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus&lt;PointT&gt;::probability_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a091079115559419801ac9a4c967f628c">   78</a></span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a091079115559419801ac9a4c967f628c">MaximumLikelihoodSampleConsensus</a> (<span class="keyword">const</span> SampleConsensusModelPtr &amp;model) : </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (model),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">iterations_EM_</a> (3),      <span class="comment">// Max number of EM (Expectation Maximization) iterations</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#aa59d111620bf247e8d08d9366eb72beb">sigma_</a> (0)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus.html#ab5ca8dbf21b2a1c6ed9c1e8d3eba853c">max_iterations_</a> = 10000; <span class="comment">// Maximum number of trials before we give up.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a11701ef0a5e49688284bb6d99795b4aa">   90</a></span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a11701ef0a5e49688284bb6d99795b4aa">MaximumLikelihoodSampleConsensus</a> (<span class="keyword">const</span> SampleConsensusModelPtr &amp;model, <span class="keywordtype">double</span> threshold) : </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus.html">SampleConsensus</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (model, threshold),</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">iterations_EM_</a> (3),      <span class="comment">// Max number of EM (Expectation Maximization) iterations</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;        <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#aa59d111620bf247e8d08d9366eb72beb">sigma_</a> (0)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      {</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="classpcl_1_1_sample_consensus.html#ab5ca8dbf21b2a1c6ed9c1e8d3eba853c">max_iterations_</a> = 10000; <span class="comment">// Maximum number of trials before we give up.</span></div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a860128eaca61e128e78f39c7d51972b1">computeModel</a> (<span class="keywordtype">int</span> debug_verbosity_level = 0);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a34ea1f0393f8487a30213a1b8ad76322">  108</a></span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a34ea1f0393f8487a30213a1b8ad76322">setEMIterations</a> (<span class="keywordtype">int</span> iterations) { <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">iterations_EM_</a> = iterations; }</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a12371e17dc5df8efab55c56a8ce03b69">  112</a></span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a12371e17dc5df8efab55c56a8ce03b69">getEMIterations</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">iterations_EM_</a>); }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a9bb56a33f198ee587d29ad638c8dc6a2">computeMedianAbsoluteDeviation</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                                      <span class="keyword">const</span> boost::shared_ptr &lt;std::vector&lt;int&gt; &gt; &amp;indices, </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                                      <span class="keywordtype">double</span> sigma);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#ae91b05dd012acbb76475fc6df5d0ab3b">getMinMax</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                 <span class="keyword">const</span> boost::shared_ptr &lt;std::vector&lt;int&gt; &gt; &amp;indices, </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                 Eigen::Vector4f &amp;min_p, </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                 Eigen::Vector4f &amp;max_p);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a8440dc560085d24f3f28e6735dc9a627">computeMedian</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud, </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                     <span class="keyword">const</span> boost::shared_ptr &lt;std::vector&lt;int&gt; &gt; &amp;indices, </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                     Eigen::Vector4f &amp;median);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">  154</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">iterations_EM_</a>;</div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#aa59d111620bf247e8d08d9366eb72beb">  156</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_maximum_likelihood_sample_consensus.html#aa59d111620bf247e8d08d9366eb72beb">sigma_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  };</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;}</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;<span class="preprocessor">#include &lt;pcl/sample_consensus/impl/mlesac.hpp&gt;</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_SAMPLE_CONSENSUS_MLESAC_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html">pcl::MaximumLikelihoodSampleConsensus</a></div><div class="ttdoc">MaximumLikelihoodSampleConsensus represents an implementation of the MLESAC (Maximum Likelihood Estim...</div><div class="ttdef"><b>Definition:</b> mlesac.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a091079115559419801ac9a4c967f628c"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a091079115559419801ac9a4c967f628c">pcl::MaximumLikelihoodSampleConsensus::MaximumLikelihoodSampleConsensus</a></div><div class="ttdeci">MaximumLikelihoodSampleConsensus(const SampleConsensusModelPtr &amp;model)</div><div class="ttdoc">MLESAC (Maximum Likelihood Estimator SAmple Consensus) main constructor</div><div class="ttdef"><b>Definition:</b> mlesac.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a11701ef0a5e49688284bb6d99795b4aa"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a11701ef0a5e49688284bb6d99795b4aa">pcl::MaximumLikelihoodSampleConsensus::MaximumLikelihoodSampleConsensus</a></div><div class="ttdeci">MaximumLikelihoodSampleConsensus(const SampleConsensusModelPtr &amp;model, double threshold)</div><div class="ttdoc">MLESAC (Maximum Likelihood Estimator SAmple Consensus) main constructor</div><div class="ttdef"><b>Definition:</b> mlesac.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a12371e17dc5df8efab55c56a8ce03b69"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a12371e17dc5df8efab55c56a8ce03b69">pcl::MaximumLikelihoodSampleConsensus::getEMIterations</a></div><div class="ttdeci">int getEMIterations() const</div><div class="ttdoc">Get the number of EM iterations.</div><div class="ttdef"><b>Definition:</b> mlesac.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a34ea1f0393f8487a30213a1b8ad76322"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a34ea1f0393f8487a30213a1b8ad76322">pcl::MaximumLikelihoodSampleConsensus::setEMIterations</a></div><div class="ttdeci">void setEMIterations(int iterations)</div><div class="ttdoc">Set the number of EM iterations.</div><div class="ttdef"><b>Definition:</b> mlesac.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a7b8670f94aa8cd5345fddfcfba6ec5fd"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a7b8670f94aa8cd5345fddfcfba6ec5fd">pcl::MaximumLikelihoodSampleConsensus::iterations_EM_</a></div><div class="ttdeci">int iterations_EM_</div><div class="ttdoc">Maximum number of EM (Expectation Maximization) iterations.</div><div class="ttdef"><b>Definition:</b> mlesac.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a8440dc560085d24f3f28e6735dc9a627"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a8440dc560085d24f3f28e6735dc9a627">pcl::MaximumLikelihoodSampleConsensus::computeMedian</a></div><div class="ttdeci">void computeMedian(const PointCloudConstPtr &amp;cloud, const boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;indices, Eigen::Vector4f &amp;median)</div><div class="ttdoc">Compute the median value of a 3D point cloud using a given set point indices and return it as a Point...</div><div class="ttdef"><b>Definition:</b> mlesac.hpp:264</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a860128eaca61e128e78f39c7d51972b1"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a860128eaca61e128e78f39c7d51972b1">pcl::MaximumLikelihoodSampleConsensus::computeModel</a></div><div class="ttdeci">bool computeModel(int debug_verbosity_level=0)</div><div class="ttdoc">Compute the actual model and find the inliers</div><div class="ttdef"><b>Definition:</b> mlesac.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_a9bb56a33f198ee587d29ad638c8dc6a2"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#a9bb56a33f198ee587d29ad638c8dc6a2">pcl::MaximumLikelihoodSampleConsensus::computeMedianAbsoluteDeviation</a></div><div class="ttdeci">double computeMedianAbsoluteDeviation(const PointCloudConstPtr &amp;cloud, const boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;indices, double sigma)</div><div class="ttdoc">Compute the median absolute deviation:</div><div class="ttdef"><b>Definition:</b> mlesac.hpp:207</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_aa59d111620bf247e8d08d9366eb72beb"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#aa59d111620bf247e8d08d9366eb72beb">pcl::MaximumLikelihoodSampleConsensus::sigma_</a></div><div class="ttdeci">double sigma_</div><div class="ttdoc">The MLESAC sigma parameter.</div><div class="ttdef"><b>Definition:</b> mlesac.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1_maximum_likelihood_sample_consensus_html_ae91b05dd012acbb76475fc6df5d0ab3b"><div class="ttname"><a href="classpcl_1_1_maximum_likelihood_sample_consensus.html#ae91b05dd012acbb76475fc6df5d0ab3b">pcl::MaximumLikelihoodSampleConsensus::getMinMax</a></div><div class="ttdeci">void getMinMax(const PointCloudConstPtr &amp;cloud, const boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;indices, Eigen::Vector4f &amp;min_p, Eigen::Vector4f &amp;max_p)</div><div class="ttdoc">Determine the minimum and maximum 3D bounding box coordinates for a given set of points</div><div class="ttdef"><b>Definition:</b> mlesac.hpp:240</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus.html">pcl::SampleConsensus</a></div><div class="ttdoc">SampleConsensus represents the base class. All sample consensus methods must inherit from this class.</div><div class="ttdef"><b>Definition:</b> sac.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_html_ab5ca8dbf21b2a1c6ed9c1e8d3eba853c"><div class="ttname"><a href="classpcl_1_1_sample_consensus.html#ab5ca8dbf21b2a1c6ed9c1e8d3eba853c">pcl::SampleConsensus&lt; PointT &gt;::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">Maximum number of iterations before giving up.</div><div class="ttdef"><b>Definition:</b> sac.h:331</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_c7755524a431c11f03a79f7e7a55c8ae.html">sample_consensus</a></li><li class="navelem"><a class="el" href="dir_b55b0e205bfb15fa747ee4a5d787a677.html">include</a></li><li class="navelem"><a class="el" href="dir_5944596cfcc9d4d5387c59e693bd10b7.html">pcl</a></li><li class="navelem"><a class="el" href="dir_6a81d93b3ecec65392154f05b2284644.html">sample_consensus</a></li><li class="navelem"><b>mlesac.h</b></li>
    <li class="footer">制作者 <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
  </ul>
</div>
</body>
</html>
